Real-time camera tracking using depth maps
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United States of America Patent
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Mar 19, 2013
Grant Date -
Aug 2, 2012
app pub date -
Jan 31, 2011
filing date -
Jan 31, 2011
priority date (Note) -
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status (Latency Note)
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Abstract
Real-time camera tracking using depth maps is described. In an embodiment depth map frames are captured by a mobile depth camera at over 20 frames per second and used to dynamically update in real-time a set of registration parameters which specify how the mobile depth camera has moved. In examples the real-time camera tracking output is used for computer game applications and robotics. In an example, an iterative closest point process is used with projective data association and a point-to-plane error metric in order to compute the updated registration parameters. In an example, a graphics processing unit (GPU) implementation is used to optimize the error metric in real-time. In some embodiments, a dense 3D model of the mobile camera environment is used.
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